Datasets:

amir-pyh

/

SNEI-v0-free-form-325

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{"gt_parse": {"Perception": "A single individual is positioned directly in front of the robot, moving towards the northwest.", "Prediction": "The individual wearing a blue shirt is expected to continue moving from the northeast towards the northwest.", "Chain of Thought Reasoning": "Considering the walking path of the person dressed in a white shirt and blue jeans, the robot should halt and allow her to cross.", "Final Action": "Stop, wait for clear path. ", "Explain": "There is a person in a blue shirt traversing my route from the northeast to the northwest, very near to me. I will stop to let her pass."}}

{"gt_parse": {"Perception": "The setting shows a sidewalk with few people around. A person dressed in a blue shirt is seen walking from north to south directly ahead of the robot. To the left, another individual is observed at a very close range, heading towards the southwest.", "Prediction": "Both persons are expected to continue their southward movement.", "Chain of Thought Reasoning": "Considering the trajectory and pace of the individual in the blue shirt, there's no immediate necessity for the robot to change its path. This person is moving away from the robot's direct route, facilitating a clear path forward.", "Final Action": "Turn slightly right at slow speed", "Explain": "I observe a person in a blue shirt moving southward to my left, and since I turn slightly to the right to pass the person"}}

{"gt_parse": {"Perception": "In the scene with a high crowd density, there is a flow of people walking from right to left, from northeat to northwest, at a close distance. They are wearing multicolored shirts. They are crossing the robot path.", "Prediction": "The flow of people will keep walking from right to the left of the robot. ", "Chain of Thought Reasoning": "Given the close proximity of the robot to the people, and with the individuals in front blocking its path, the robot should stop and wait for them to pass.", "Final Action": "Stop, wait for clear path.", "Explain": "I see a group of people in front of me passing from right to left, and they are close to me. I am waiting for them to pass before continuing forward."}}

{"gt_parse": {"Perception": "There are two people in front of the robot, slightly to the left and very close, one wearing a black shirt and the other an orange shirt, walking toward the southwest of the robot on its left. Additionally, there is a group of people in front, slightly to the right, with one person wearing an orange shirt and blue pants directly in front of the robot. All the people on the right are stationary. ", "Prediction": "The group in front and to the right will remain stationary, while the two people in front will keep walking toward the southeast, clearing the left path.", "Chain of Thought Reasoning": "Given the stationary position of the people in front and on the right of the robot, and the blocked path on the left by people walking southward, the robot should stop and wait for the people on the left to pass, then turn left to proceed.", "Final Action": "Stop, wait for clear path. ", "Explain": "I see two people on my left, very close to me, walking southward. I see a group of people in front and slightly to my right, stationary. I am stopping and waiting for the people on my left to pass, then will turn left and continue forward."}}

{"gt_parse": {"Perception": "There is a group of three people walking from north to south in the far distance in a low crowd density area, and the path on the right is clear.", "Prediction": "The group from the north will continue walking toward the robot, while the path on the right will remain clear.", "Chain of Thought Reasoning": "Given the predicted trajectory of the people in front, who will continue moving toward the robot from a far distance, and the clear path on the right, the robot should turn slightly to the right and then continue moving forward.", "Final Action": "Slightly turn right at moderate speed", "Explain": "I see a group of three people coming toward me, so I am slightly turning right to yield to them and bypass them."}}

{"gt_parse": {"Perception": "There is a high crowd density area, and the path in front is blocked. A group of people is walking from right to left, moving from the northeast to the northwest of the robot's camera view, wearing shirts of different colors. They are all in close distance.", "Prediction": "The people will keep walking from the northeast toward the northwest.", "Chain of Thought Reasoning": "Given the close proximity of the people in front of the robot, and as they are crossing the robot's path from the northeast to the northwest in the robot's relative view, the robot should stop and wait for them to pass.", "Final Action": "Stop, wait for clear path.", "Explain": "I see a group of people in front of me, at a close distance, walking from my northeast to northwest. I am stopping and waiting for them to pass."}}

{"gt_parse": {"Perception": "There is a low crowd density on the sidewalk. Two people in front, at a close distance\u2014one wearing an orange shirt and the other on their right wearing a black shirt\u2014are walking forward toward the north. Two other people, one wearing an orange shirt and the other a white shirt, are at a medium distance, coming from the northwest to the southwest relative to the robot's view.", "Prediction": "The two individuals in front will continue walking forward, while the other two walking toward the southwest will also continue moving.", "Chain of Thought Reasoning": "Given the current trajectory prediction for the two people in front, the robot can continue following them at a moderate speed while maintaining a safe distance.", "Final Action": "Continue moving forward at a moderate speed.", "Explain": "I see three people walking ahead of me in the same direction, and two others coming from my northwest to my southwest in the opposite direction. I will continue moving forward at a moderate speed while maintaining a safe distance from the two people in front."}}

{"gt_parse": {"Perception": "The scene features a low-density crowd on a sidewalk. There are two people in front, in the far distance, walking from north to south toward the robot, both wearing black. Additionally, two people in the northwest, also in the far distance, are walking northward, both wearing orange jackets.", "Prediction": "The two people in black in front will continue walking southward toward the robot, blocking its path and getting closer. The two people on the right in orange will continue moving northward, in the same direction as the robot, and will get farther away from it.", "Chain of Thought Reasoning": "Given the predicted trajectories of the two people in front walking toward the robot and the two people in the northeast continuing northward, the robot should slightly turn to the right to yield to the people coming from the north in its current path.", "Final Action": "Slightly turn to the right at moderate speed.", "Explain": "I see a group of people coming toward me, so I am slightly turning right to yield to them and bypass them."}}

{"gt_parse": {"Perception": "There is one individual in the northwest of the robot, wearing an orange jacket, at a close distance, walking from the northwest to the northeast of the robot. Additionally, there is one stationary person in a white shirt at a medium distance, with several people in the far distance in the northeast.", "Prediction": "The person in the northwest, wearing an orange shirt, will continue moving toward the northeast, crossing the robot's path the person in white shirt and in medium distance will remain stationary.", "Chain of Thought Reasoning": "Given the predicted trajectory of the person in orange at a close distance, walking from the northwest to the northeast, the robot should stop and wait for a clear path.", "Final Action": "Stop, wait for clear path.", "Explain": "I see a person at a close distance on my northwest walking toward my right side and the northeast. I am stopping to let them pass."}}

{"gt_parse": {"Perception": "There are two individuals: one in a grey jacket, walking and looking at his phone, to the front left of the robot, and another in a black jacket walking. They are passing from the front left to the front right of the robot. Both are at a close distance. The crowd density is low, and the robot is on the zebra pedestrian line.", "Prediction": "Both people will keep walking toward the northeast of the robot. ", "Chain of Thought Reasoning": "Given that the person directly in front is walking from left to right, blocking the robot's path, the robot should stop and let them pass.", "Final Action": "Stop, wait for clear path.", "Explain": "I see two people in front of me walking from the left to right. I want to go to the sidewalk, so I am stopping and waiting for them to pass before continuing forward."}}

{"gt_parse": {"Perception": "There are several individuals in front of the robot, all wearing jackets of various colors. The crowd density is very high. A group of people is coming from north to south, slightly to the left of the robot, while another group of several people is stationary in front and to the front right of the robot. All are close to the robot.", "Prediction": "The group on the front left will continue walking southward, while the group on the front right will remain stationary.", "Chain of Thought Reasoning": "Given the stationary position of the people on the front right and the movement of people on the left front, walking from north to southwest in the robot's view, the robot should stop and wait for the people to pass from its left, then slightly turn left to pass the stationary group on the front right.", "Final Action": "Stop, wait for clear path.", "Explain": "I see several people at a close distance blocking my path. I am stopping and waiting for the people passing on my left, from north to southwest, to pass, then I will turn left and continue forward."}}

{"gt_parse": {"Perception": "There is a couple in the northwest, at a close distance, with the man wearing a white shirt and the woman wearing an orange shirt, both stationary in front and to the left of the robot. Additionally, there are two individuals in the northeast of the robot's view, also at a medium-close distance, one on the right wearing a gray shirt and the other wearing white and blue, both stationary. The robot is moving on the grass in a medium crowd density.", "Prediction": "Both groups of two individuals, on the northwest (front left) and northeast (front right), will remain stationary. The clear path between the two groups will remain clear.", "Chain of Thought Reasoning": "Given the stationary position of the two groups on the northwest and northeast, and the closer group on the northwest being slightly in front of the robot, the robot should slightly turn right and navigate between the two groups, as the space between them will remain clear.", "Final Action": "Slightly turn right. ", "Explain": "I see two individuals in front and to the left of me at a close distance, and two more in the northeast at medium-to-close distance, both stationary. I am slightly turning right to navigate between the two groups."}}

{"gt_parse": {"Perception": "There are groups of individuals crossing the street in front of the robot. They are spaced apart and moving from left to right, crossing the robot's path from the northwest to the northeast in its view. They are close to the robot, and the crowd density is medium.", "Prediction": "The individuals are likely to continue their paths, crossing from the front left to the front right of the robot's view, intersecting with the robot's forward movement.", "Chain of Thought Reasoning": "Given the close distance of the people in front of the robot, and as they are blocking its path by intersecting from left to right, the robot should stop, let them pass, and then continue forward.", "Final Action": "Stop, wait for clear path. ", "Explain": "I see a group of people crossing the street ahead, moving from my front left to front right. They are maintaining a steady pace, and I am stopping to let them pass."}}

{"gt_parse": {"Perception": "There is one person directly north, in front of the robot at a close distance, wearing an orange shirt, moving toward the northwest. There are other stationary groups of people at a medium distance on the northeast and northwest. The crowd density is medium.", "Prediction": "The man in front will continue walking to the front left of the robot.", "Chain of Thought Reasoning": "Given the predicted trajectory of the man in front, as he is walking to the northwest of the robot's view, and the clear path on the northeast, the robot should slightly turn right to pass him.", "Final Action": "Slightly turn right.", "Explain": "I see a person in orange at a close distance in front, walking toward my northwest. I am slightly turning right to pass him."}}

{"gt_parse": {"Perception": "In the scene, a person is walking from the northwest to the southwest at a medium distance from the robot, wearing a brown shirt, and is on the left side of the robot.", "Prediction": "The person in the brown shirt will continue walking from the northwest to the southwest.", "Chain of Thought Reasoning": "Since the person is moving away from the robot's path but still in a close parallel trajectory, the robot should continue moving forward while slightly adjusting its path to maintain a safe distance.", "Final Action": "Continue moving forward at a moderate speed while slightly adjusting to the right ", "Explain": "I see a person moving from the northwest to the southwest at a medium distance. I will continue moving forward while slightly adjusting my path to the right to avoid the person and maintain safety. This adjustment ensures I respect the person's space and avoid any potential collision."}}

{"gt_parse": {"Perception": "In the image, a group of three people is walking on the sidewalk at a close distance to the robot. They are moving from the northeast toward the southwest, directly in front of the robot.", "Prediction": "The group of people will continue moving from the northeast to the southwest.", "Chain of Thought Reasoning": "Since the people are moving toward the robot's path and are at a close distance, the robot should stop and wait for them to pass.", "Final Action": "Stop, wait for clear path", "Explain": "I see a group of three people moving away from me, so I will cStop, wait for clear path ensuring I maintain a safe distance for comfort and safety."}}

{"gt_parse": {"Perception": "There is a human on the left side of the sidewalk moving from the northwest to the southwest at a far distance, wearing a white shirt.", "Prediction": "The human will continue walking from the northwest to the southwest.", "Chain of Thought Reasoning": "Since the human is moving along their path and the robot is on the right side of the sidewalk at a far distance, the robot can continue moving forward without any adjustments.", "Final Action": "Continue moving forward at a moderate speed.", "Explain": "I am maintaining a straight path because the human is moving in a predictable direction on the left side at far distance, allowing me to continue without interference. This ensures a smooth and safe navigation."}}

{"gt_parse": {"Perception": "There are two individuals walking together in front of me at a close distance, walking up the stairs. They are moving from the northwest to the southwest and are close to the robot.", "Prediction": "The group of two people wearing a yellow and a blue shirt will continue walking from the northwest to the southwest.", "Chain of Thought Reasoning": "Since the group is moving along their path and the robot's goal is to move straight, the robot needs to adjust its path slightly to the right to maintain a safe distance and avoid them.", "Final Action": "Move forward while slightly adjusting to the right ", "Explain": "I see a group of two people moving from the northwest to the southwest. I am moving forward and slightly adjusting to the right to maintain a safe distance and avoid any potential obstruction."}}

{"gt_parse": {"Perception": "In the scene, a group of two people is walking from the northwest toward the southwest at a far distance. They are located on the left side of the sidewalk, while the robot is positioned on the right side.", "Prediction": "The group of people will continue walking from the northwest to the southwest.", "Chain of Thought Reasoning": "Since the group is moving away from the robot and is already maintaining a safe distance, the robot can continue moving straight along its current path on the right side of the sidewalk.", "Final Action": "Continue moving forward at a moderate speed.", "Explain": "The group of people is moving away and maintaining a safe distance on the left, so I will continue straight on the right side of the sidewalk to ensure a smooth and safe navigation."}}

{"gt_parse": {"Perception": "There is a group of people standing on the sidewalk to the northeast of the robot at a medium distance. They are stationary and engaged in various activities, not focusing on the robot.", "Prediction": "The group of people will remain stationary.", "Chain of Thought Reasoning": "Since the group is close and directly in the path, the robot needs to navigate around them to ensure a safe and respectful distance. Turning slightly to the northwest will help it bypass the group without disturbing them.", "Final Action": "Turn slightly to the northwest", "Explain": "I am at a medium distance from the group of people, so I am turning slightly to the left to avoid them and then continuing to move forward. This action ensures I maintain a respectful distance and avoid any disturbance."}}

{"gt_parse": {"Perception": "The scene shows a very low crowd density, with a single human sitting on a wall to the northeast of the robot at a close distance. The environment is a sidewalk with a concrete surface.", "Prediction": "The person wearing a red and blue shirt is stationary, likely enjoying the surroundings or waiting.", "Chain of Thought Reasoning": "Since the person is stationary and located to the right of the robot's path, the robot should maintain a safe distance while moving forward. This ensures it does not invade the person's personal space while continuing along its planned route.", "Final Action": "Continue straight at a moderate speed while maintaining a safe distance from the person sitting on the wall.", "Explain": "I see a person sitting to the northeast, close to my path. I will continue moving straight at a moderate speed while ensuring I keep a safe distance to respect their space. This approach avoids any disturbance to the person while allowing me to proceed with my navigation task."}}

{"gt_parse": {"Perception": "In the scene, there is a group of two people, one wearing a blue shirt and the other in teal, walking away from the robot toward the northeast on a sidewalk at a close distance.", "Prediction": "The group of people will continue walking northeast.", "Chain of Thought Reasoning": "Since the group is moving away from the robot and is at a close distance, and there are no other obstacles, the robot can continue moving forward at a moderate speed. This action ensures a smooth and unobstructed path for the robot while maintaining a safe distance from the humans.", "Final Action": "Slightly turn left, then continue straight.", "Explain": "I see a group of two people moving northeast, away from me. Since they are not obstructing my path and are at a close distance, and there are no other obstacles, I will continue moving forward at a moderate speed to maintain a safe and respectful distance."}}

{"gt_parse": {"Perception": "I see a person wearing a gray jacket walking on the sidewalk directly in front of me at a close distance, moving from north to south.", "Prediction": "The person with the gray jacket will keep walking from the north to the south.", "Chain of Thought Reasoning": "Since the person is moving directly towards the south and is close to me, the robot needs to ensure a safe distance by slightly adjusting my path to avoid any potential collision. This adjustment will allow me to continue moving forward without interruption.", "Final Action": "Slightly turn right, then continue moving forward.", "Explain": "I am adjusting my path slightly to the right to maintain a safe distance from the person in the gray jacket who is walking south at a close distance, ensuring smooth and safe navigation."}}

{"gt_parse": {"Perception": "The scene depicts a person in a blue jacket walking on the left side of the sidewalk, moving from northwest to southwest. The robot is positioned on the right side of the sidewalk at a close distance, with a vehicle parked on the left.", "Prediction": "The person in the blue jacket will continue walking southwest along the sidewalk.", "Chain of Thought Reasoning": "Given the current trajectory and speed of the person in the blue jacket, the robot can safely continue moving forward on the right side of the sidewalk. This action avoids any unnecessary close proximity and maintains a smooth navigation path.", "Final Action": "Continue straight at a moderate speed.", "Explain": "The person in the blue jacket is walking away from the robot, maintaining a clear path on the right. Therefore, I will continue straight at a moderate speed to efficiently navigate through this low-density area without altering course."}}

{"gt_parse": {"Perception": "In the scene, there is one person right in front of the robot walking south toward the robot at a close distance, and a couple to the northeast at a far distance, also walking south.", "Prediction": "The person in front of the robot and at a close distance will continue walking toward the robot.", "Chain of Thought Reasoning": "Since the person is directly in front of the robot, facing and walking toward it at a close distance, the robot should slightly turn left at a slow speed.", "Final Action": "Turn left at slow speed", "Explain": "I see one person in front of me at close distance. I should slightly turn left to pass them at a slow speed."}}

{"gt_parse": {"Perception": "In the image, there is a hallway environment with a single human wearing a blue shirt, stationary and ready to move at a close distance. The individual is close to the robot, and there are no other obstacles or agents in the immediate vicinity.", "Prediction": "The person is likely to move but the direction is nor predictable.", "Chain of Thought Reasoning": "Since the human is likely to move, stop and reassess the situation.", "Final Action": "stop and reassess the situation.", "Explain": "I see a person ready to move, I stop and reasses."}}

{"gt_parse": {"Perception": "The robot is navigating through a hallway with medium crowd density, moving north. There is a human wearing a pink shirt walking south, directly toward the robot at a medium distance.", "Prediction": "The person in the pink shirt will continue walking from northwest to southwest.", "Chain of Thought Reasoning": "Given the human's walking direction and the narrow passage, the robot should continue moving forward while slightly adjusting its path to the right to maintain a safe distance and avoid any potential collision.", "Final Action": "Continue moving forward while keeping to the right ", "Explain": "I see a person walking towards me in a narrow hallway. To ensure safe and respectful navigation, I will slightly adjust my path to the right while moving forward to avoid the person in the pink shirt."}}

{"gt_parse": {"Perception": "The robot is in an indoor hallway with a low crowd density, observing a single human wearing a black shirt walking from north to south at a medium distance.", "Prediction": "The person in the black shirt will keep walking from the north to the south.", "Chain of Thought Reasoning": "Given the person's direction and proximity, stopping and yielding is the safest action to avoid any collision and ensure the comfort of the person walking. After the person has passed, the robot can continue moving north.", "Final Action": "Stop and wait for clear path", "Explain": "I am stopping to yield to the person in the black shirt who is walking towards me. This ensures safety and comfort for both the person and myself."}}

{"gt_parse": {"Perception": "In the scene, there are two humans in a hallway. One individual in a yellow shirt appears stationary, likely sitting or standing still. Another individual in a white shirt is walking towards the southwest. Both at close distance", "Prediction": "The person in the yellow shirt will remain stationary, while the person in the white shirt will continue moving towards the southwest.", "Chain of Thought Reasoning": "Given the low crowd density and the indoor hallway environment, the robot should maintain a slow pace to ensure it does not disrupt the path of the moving individual while also keeping a safe distance from the stationary individual. This approach ensures safety and respects personal space.", "Final Action": "Continue moving forward at a slow pace.", "Explain": "I am moving forward slowly to ensure I maintain a safe distance from the person in the yellow shirt who is stationary and also allow enough space for the person in the white shirt moving towards the southwest. This approach ensures safety and compliance with social norms."}}

{"gt_parse": {"Perception": "The robot is currently in an indoor setting with a medium crowd density, where most people are seated. I observe a human walking toward the southwest from the north at a close distance.", "Prediction": "The person in a gray shirt is likely to continue walking southwest.", "Chain of Thought Reasoning": "Considering the person's walking path and the robot's current northeast trajectory, and given the close distance of the person, the robot should momentarily stop to allow the person to pass safely, ensuring no interference in their path.", "Final Action": "stop and wait for clear path", "Explain": "I am stopping to allow the person in the gray shirt to pass safely, then I will resume my path northeast to maintain a respectful and safe distance."}}

{"gt_parse": {"Perception": "In the hallway, there is a person dressed in blue jeans walking toward the robot at a medium distance, facing the robot, and appearing to yield to allow the robot to pass. The immediate path is also very narrow, with a column less than a meter away on the right.", "Prediction": "The person in the blue shirt will likely remain stationary or continue yielding as the robot passes.", "Chain of Thought Reasoning": "Since the person is yielding and the hallway allows enough space, the robot should move forward at a slow speed to maintain a safe distance while the person passes.", "Final Action": "Continue moving forward at a slow then turn right.", "Explain": "I am continuing forward at a slow speed to safely pass by the person in the blue shirt who is yielding to the robot. This allows for smooth navigation without interruption."}}

{"gt_parse": {"Perception": "The scene shows a single human in a gray shirt walking from the northwest to the northeast in a hallway at a very close distance. The person is moving away from the robot, which is positioned at a close distance.", "Prediction": "The person in the gray shirt will continue moving from northwest to northeast.", "Chain of Thought Reasoning": "Since the human is moving away from the robot and is very close, the robot should stop to maintain a safe distance and allow the human to pass comfortably. This action will prevent any potential collision and ensure socially compliant navigation.", "Final Action": "stop wait for clear path.", "Explain": "I am stopping because the person in the gray shirt is very close and moving away from me. I will give them space to pass safely before continuing my path to the northwest."}}

{"gt_parse": {"Perception": "In the scene, there are two individuals in a hallway. The first individual is wearing a blue jacket and walking from east to west at a close distance. The second individual, wearing a lime shirt, is seated in a wheelchair, positioned slightly to the right of the robot, facing the robot, and smiling at a very close distance.", "Prediction": "The wheelchair likely stay stationary while the women in blue will clear the path.", "Chain of Thought Reasoning": "Given the close proximity and the stationary status of the person on wheelchair , the robot should stop and let the person in blue clear the pass, then slightly turn left to avoid collision with the person on wheelchair,. ", "Final Action": "Stop, wait for clear path", "Explain": "I see a stationary wheelchair on my right at a very close distance and a person passing in front of me at a close distance. I stop and let the person in blue clear the path."}}

{"gt_parse": {"Perception": "In the hallway, two individuals are observed: one wearing an orange shirt is walking north at a close distance, while another in a blue shirt is walking south toward the robot at a medium distance.", "Prediction": "The individual in the orange shirt will continue moving north, and the one in the blue shirt will continue moving south.", "Chain of Thought Reasoning": "Since both individuals are moving in opposite directions and maintaining their paths, the robot can continue moving north while keeping a safe distance to ensure no interference with their paths.", "Final Action": "Continue moving forward at a slow pace.", "Explain": "I see two people walking in opposite directions in a hallway. I will continue moving forward slowly to maintain a safe distance from the person in the orange shirt."}}

{"gt_parse": {"Perception": "There is a relatively quiet sidewalk environment with a few humans in front of it at a far distance, moving from north to south.", "Prediction": "There is no immediate interaction.", "Chain of Thought Reasoning": "Given the current trajectory and very low crowd density, there is no immediate need for evasive maneuvers. The robot can continue moving forward at a moderate speed while maintaining a safe distance.", "Final Action": "Continue moving forward towards the northeast direction at a moderate speed.", "Explain": "I am continuing straight towards the northeast because my path is clear."}}

{"gt_parse": {"Perception": "In the image, there is a person in a black hoodie walking on the sidewalk to the right of the robot at a very close distance, heading north. The environment is a busy sidewalk with some traffic and a pedestrian crossing.", "Prediction": "The person in the black hoodie will continue walking northeast.", "Chain of Thought Reasoning": "Since the person is moving north and is very close to the robot, the robot should maintain a slow speed and move slightly to the left to ensure a safe distance is kept. This will prevent any disruption in the person's path while ensuring smooth navigation for the robot.", "Final Action": "Turn slightly to the left with slow speed.", "Explain": "I see a person walking north very close to me, so I will turn left and move forward at a slow speed to maintain a safe distance and avoid any interference with their path."}}

{"gt_parse": {"Perception": "In the scene there is a person very close to the robot on northwest walking to the south west. ", "Prediction": "The person in the purple shirt will continue moving from the north to the south-west.", "Chain of Thought Reasoning": "Since the person in the purple shirt is not in the robot's path, the robot can navigate forward.", "Final Action": "Continue moving forward at slow speed", "Explain": "I see a person in a purple shirt on my left. I can keep moving forward as the path is clear, and since the area has a medium crowd, I will proceed slowly."}}

{"gt_parse": {"Perception": "There are two individuals on the sidewalk. The first, a person in a green shirt, is walking toward the robot from the north, moving to the southwest at a close distance. The second, a person in a pink jacket, is in the northeast, walking to the north at a medium distance.", "Prediction": "The person in the green shirt will continue moving from the north to the southwest. The person in the pink jacket is likely keep walking to the north", "Chain of Thought Reasoning": "Since the person in the green shirt is moving towards the robot, I will slightly adjust my path to the right to maintain a safe distance and avoid any potential collision.", "Final Action": "Move forward at a moderate speed while slightly adjusting to the right ", "Explain": "I am adjusting my path to the right to safely pass by the person in the green shirt who is walking towards me from the north to the southwest."}}

{"gt_parse": {"Perception": "There is a sidewalk with a group of three people standing in front of the robot, slightly to the left at a close distance. They are stationary and wearing various colored shirts.", "Prediction": "The group of people will remain stationary.", "Chain of Thought Reasoning": "Since the group of people is stationary and positioned slightly to the left, the robot should navigate to the right to avoid them and maintain a respectful distance after the walking person on north east has cleared the path.", "Final Action": "Stop, wait for clear path.", "Explain": "I see a group of people standing on the sidewalk, on my northwest, also a person in white shirt and mask walking from northeast to southeast. I stop and wait until the walking person clear the path."}}

{"gt_parse": {"Perception": "In the image, there is a single human walking on the sidewalk, moving from north to northwest. The person is wearing a gray shirt and blue shorts, and appears to be focused on her surroundings rather than on the robot, and is at a close distance.", "Prediction": "The person is likely to continue walking from north to north-west.", "Chain of Thought Reasoning": "Since the human is walking from north to north-west and is close to the robot's path, the robot should turn right to avoid crossing her path and continue safely on the sidewalk.", "Final Action": "Turn right towards north-east.", "Explain": "I am turning right to get into the building "}}

{"gt_parse": {"Perception": "The scene shows a person in a blue shirt walking slightly to the left of the robot, moving from north to northwest at a close distance. The sidewalk is not crowded, allowing the robot to continue moving straight on the right side.", "Prediction": "The person in the blue shirt will keep walking from north to northwest.", "Chain of Thought Reasoning": "Since the person is moving away from the robot's path and there are no other obstacles, the robot can safely continue moving forward on the right side of the sidewalk.", "Final Action": "Continue moving forward at a slow speed.", "Explain": "I see group of people coming out of a narrow doorway toward me. I should slow down."}}

{"gt_parse": {"Perception": "There is a sidewalk scene where several people are moving around a doorway. Two individuals are particularly relevant to my navigation: one person in blue pants moving from north to southwest at a very close distance, and another in a black shirt moving toward the northwest at a close distance.", "Prediction": "The person in the black jacket will continue moving from the north to the northwest. The person in blue pants will continue moving from the north to the southwest.", "Chain of Thought Reasoning": "Since the sidewalk is moderately crowded and people are moving in different directions around the robot, it is prudent to stop and wait for a clear path to avoid collisions and ensure safe navigation.", "Final Action": "Stop and wait for the humans to pass.", "Explain": "I am stopping because there are people moving on both sides and in front of me, making it necessary to wait for a few seconds to ensure safe navigation and avoid interrupting their paths."}}

{"gt_parse": {"Perception": "The robot is navigating a staircase indoors, encountering a group of humans. There are three individuals in close proximity to the robot, all facing away and appearing stationary.", "Prediction": "The individuals are likely to remain stationary or continue moving slowly in the direction they are facing.", "Chain of Thought Reasoning": "Given the close proximity of the individuals and the narrow staircase, the best course of action is for the robot to stop and wait for a clearer path to proceed. This ensures safety and avoids any potential collision.", "Final Action": "Stop and wait for the humans to clear the path.", "Explain": "I am stopping because the humans are close and the staircase is narrow, making it safer to wait for a clearer path."}}

{"gt_parse": {"Perception": "There is a stairway, and a human is standing on the stairs, wearing an orange shirt, facing the robot and looking at an object in their hands.", "Prediction": "The person in the orange shirt will remain stationary as they are engaged with the object in their hands.", "Chain of Thought Reasoning": "Since the person ahead is stationary and not blocking the entire stairway, the robot can make a sharp turn to navigate around them.", "Final Action": "Turn a sharp left.", "Explain": "I see a person ahead on the stairs who is stationary and engaged with an object. I will slowly turn left to go down from the stairs."}}

{"gt_parse": {"Perception": "There is a human on a skateboard, dressed in a blue hoodie, moving northward on the sidewalk. There are construction barriers to the right and a display sign further ahead. Additionally, there are two humans on the left and northwest walking toward the southwest.", "Prediction": "The person on the skateboard will continue moving north.", "Chain of Thought Reasoning": "Since the skateboarder is moving north and the robot's goal is to proceed north, the robot should maintain a moderate speed and keep a safe distance to avoid any potential collision with the skateboarder.", "Final Action": "Continue moving forward at a moderate speed ", "Explain": "I am moving north and the skateboarder is also heading north. To ensure safety and avoid any interruptions, I am maintaining a moderate speed and keeping a safe distance from the person on the skateboard."}}

{"gt_parse": {"Perception": "The scene depicts a sidewalk with low crowd density, featuring a human in a black shirt walking from the northwest to the southwest of the robot at a close distance. The environment is outdoors with tile flooring.", "Prediction": "The person in the black shirt will continue walking from the northwest to the southwest.", "Chain of Thought Reasoning": "Since the person is moving away from the robot's direct path and the crowd density is low, the robot can continue moving forward while maintaining a safe distance. This ensures the person's path is not obstructed.", "Final Action": "Continue moving forward at a moderate speed.", "Explain": "I see a person moving from northwest to southwest, slightly to the left of my path. I will continue moving forward at a moderate speed to maintain a safe distance and ensure a clear path for both the person and myself."}}

{"gt_parse": {"Perception": "The scene is a sidewalk with a Very low crowd density. There is a person wearing an orange shirt walking towards the north, directly in front of the robot.", "Prediction": "The person in the orange shirt will continue moving from the southwest to the north.", "Chain of Thought Reasoning": "Given the medium distance and the person's trajectory, the robot can safely continue moving straight at a moderate speed to navigate the environment.", "Final Action": "Continue moving forward at a moderate speed.", "Explain": "I am continuing straight at a moderate speed because the person in the orange shirt is at a medium distance and moving in a predictable path, allowing safe navigation."}}

{"gt_parse": {"Perception": "The robot is navigating on a sidewalk with very low crowd density. A person on a bicycle, wearing a black jacket, is positioned to the left of the robot, facing north and moving north at a very close distance to the robot.", "Prediction": "The person on the bicycle is likely keep moving to the north", "Chain of Thought Reasoning": "Since the person on the bicycle is close and facing the robot, I will continue moving forward while maintaining a safe distance. This approach ensures the robot avoids any sudden movements from the bicyclist.", "Final Action": "Continue moving forward at a moderate speed, maintaining a safe distance from the person on the bicycle.", "Explain": "I am moving forward to avoid the person on the bicycle by maintaining a moderate speed and a safe distance, ensuring smooth navigation."}}

{"gt_parse": {"Perception": "There is a sidewalk environment with low crowd density, where two individuals are present. One person in a gray jacket is walking from the northwest to the southwest at a close distance, while another person in a black jacket is standing still, facing north at a medium distance.", "Prediction": "The person in the gray jacket will continue walking southwest, while the person in the black jacket will remain stationary.", "Chain of Thought Reasoning": "Since the person in the gray jacket is moving and I am heading north, maintaining my current path and speed will avoid any interference with their movement. The person in black is stationary and not in my direct path, allowing me to continue without alteration.", "Final Action": "Continue moving forward at a moderate speed.", "Explain": "I am moving north and the person in the gray jacket is walking southwest, which means our paths do not intersect directly. The person in black is stationary and not blocking my path. Therefore, I can continue moving forward at a moderate speed to maintain a smooth and safe navigation."}}

{"gt_parse": {"Perception": "There is a group of two people wearing mostly white shirts, walking from the northeast to the southeast in front of the robot.", "Prediction": "The group in white shirts will keep walking from the northeast to the southeast.", "Chain of Thought Reasoning": "Since the group is moving away from me and there is sufficient space on the sidewalk, I can continue moving straight at a moderate speed to navigate safely around them. This action ensures I maintain a respectful distance while not disrupting their path.", "Final Action": "Continue moving forward at a moderate speed.", "Explain": "I am moving straight at a moderate speed because the group in white shirts is walking away from me, allowing me to pass safely without interfering with their movement."}}

{"gt_parse": {"Perception": "In the scene, there is a single human wearing a gray shirt walking from the north to the southwest relative to the robot's position at a medium distance. The environment is an open area with tiled flooring, and the crowd density is very low.", "Prediction": "The person in the gray shirt will continue walking from the northwest to the southwest.", "Chain of Thought Reasoning": "Since the person is moving away from the robot's direct path, the robot should continue moving forward while maintaining a safe distance. This will ensure the person's path is not obstructed.", "Final Action": "Continue moving forward at a moderate speed.", "Explain": "I see a person moving from northw to southwest. I will continue moving forward at a moderate speed to maintain a safe distance and ensure their path is not obstructed."}}

{"gt_parse": {"Perception": "The scene shows a group of six individuals standing on a sidewalk, spanning from north to east of the robot, at a close distance. They are variously dressed, mostly in shirts and jackets. The group appears to be stationary, possibly engaged in conversation or waiting.", "Prediction": "The group of people will likely remain stationary.", "Chain of Thought Reasoning": "Since the group is stationary and positioned directly in front of the robot, I will continue moving straight while maintaining a safe distance to ensure respectful navigation around them.", "Final Action": "turn slightly to left.", "Explain": "I see a stationary group of people ahead on the sidewalk. To navigate respectfully, I will turn slightly to left."}}

{"gt_parse": {"Perception": "There are two individuals standing close to each other on a sidewalk. Both are stationary and facing toward the robot at a close distance. The environment is open with a concrete surface and low crowd density.", "Prediction": "Both individuals are likely to remain stationary as they are currently engaged in observing their surroundings.", "Chain of Thought Reasoning": "Since the two individuals are stationary and close to its path, the robot should adjust its trajectory slightly northeast to maintain a respectful distance and avoid causing any discomfort.", "Final Action": "Turn slightly northeast t", "Explain": "I am adjusting my path slightly to the northeast to maintain a safe and respectful distance from the two individuals standing on the sidewalk, ensuring their comfort and my uninterrupted passage."}}

{"gt_parse": {"Perception": "The scene shows a man in an orange shirt and blue jeans walking very close to the robot on a concrete sidewalk. He is near a trash can and appears to be engaged with his phone.", "Prediction": "The man in the orange shirt will likely continue walking or stop as he is currently engaged with his phone.", "Chain of Thought Reasoning": "Given the proximity of the man and his engagement with the phone, the robot should stop to avoid any potential collision and wait for a clear path to continue.", "Final Action": "Stop and wait for the man to pass.", "Explain": "I am stopping because the man in the orange shirt is very close and engaged with his phone, which could lead to unpredictable movements."}}

{"gt_parse": {"Perception": "I see a person in an orange shirt walking on the sidewalk in close distance, moving from the northwest to the southwest.", "Prediction": "The person in the orange shirt will keep walking from the northwest to the southwest.", "Chain of Thought Reasoning": "Given that the person is moving away from the robot and there are no other immediate obstacles, the robot can continue moving forward at a moderate speed while keeping a safe distance. This ensures the robot does not interfere with the person's path.", "Final Action": "Continue moving forward at a moderate speed.", "Explain": "I am maintaining a safe distance from the person in the orange shirt who is walking away from me, so I will continue moving forward at a moderate speed to ensure a smooth and safe navigation."}}

{"gt_parse": {"Perception": "There is a human wearing a yellow shirt and carrying a bag at a close distance, walking from the northwest to the southwest on a sidewalk. Additionally, there is another person dressed in black walking forward from the north, also at a close distance. The environment is moderately crowded.", "Prediction": "The person in the yellow shirt will continue walking toward the southwest, while the person in black from the north will keep walking forward.", "Chain of Thought Reasoning": "Given the human's current trajectory and speed, there is a clear path for the robot to continue moving forward while maintaining a safe distance. The robot\u2019s path aligns with its goal to move straight.", "Final Action": "Continue moving forward at a moderate speed.", "Explain": "I see a person walking away from me towards the southwest. I will continue moving forward at a moderate speed to maintain a safe distance and follow my navigation path."}}

{"gt_parse": {"Perception": "In the scene, there is a person in an orange shirt walking from the northwest to the southwest at a very close distance. There is also a group of two people standing and conversing in front of the robot at a medium distance.", "Prediction": "The person in the orange shirt will continue walking towards the southwest. The group of two people will remain stationary and continue their conversation.", "Chain of Thought Reasoning": "Considering the current positions and actions of the agents, the robot can safely continue moving forward while keeping to the right to maintain a safe distance from the person in the orange shirt. Since the group is stationary and not in the direct path, they do not pose an immediate obstacle.", "Final Action": "Continue straight at a moderate speed while keeping to the right", "Explain": "I am observing a person in the orange shirt walking towards the southwest and a stationary group engaged in conversation. To navigate safely, I will continue moving forward at a moderate speed while keeping to the right to ensure a safe distance from the walking person. This action allows me to maintain smooth and safe navigation."}}

{"gt_parse": {"Perception": "There are two individuals walking side by side on the sidewalk from the robot's northwest to the southwest at a close distance. They are a couple dressed in pink and black shirts.", "Prediction": "The couple is moving from the northwest to the southwest.", "Chain of Thought Reasoning": "Since the couple is moving parallel to my path and maintaining a steady pace, I will continue moving straight at a moderate speed to maintain a smooth flow and keep a safe distance.", "Final Action": "Continue straight at a moderate speed.", "Explain": "I am continuing straight because the couple is moving in a predictable path from the northwest to the southwest, allowing me to maintain a safe and respectful distance while navigating."}}

{"gt_parse": {"Perception": "The scene depicts four individuals on a sidewalk, all moving from the northwest to the southwest. They are each focused on their own activities, such as using a phone.", "Prediction": "The four individuals will continue walking southwest.", "Chain of Thought Reasoning": "Since all individuals are moving in a consistent direction and are not directly interacting with the robot, the best course of action is to maintain a straight path while monitoring their movement.", "Final Action": "Continue straight at a moderate speed.", "Explain": "I am continuing straight because the individuals are moving predictably and there is sufficient space on the sidewalk to navigate safely."}}

{"gt_parse": {"Perception": "There is a hallway with tiled flooring. Two humans are moving to the left of the robot at a close distance. Both individuals are walking away from the robot toward the northwest.", "Prediction": "The group of two people in orange hoodies will continue walking towards the northwest. The individual in a purple jacket will also keep walking in the same direction.", "Chain of Thought Reasoning": "Since the group and the individual are moving to the left of the robot and heading northwest, the robot can safely continue moving forward by steering slightly to the right to maintain a respectful distance. This ensures the robot avoids any potential collision.", "Final Action": "Continue moving forward while slightly steering to the right ", "Explain": "I see two humans moving to my left at a close distance. I will continue moving forward while slightly steering right to maintain a safe distance from them, ensuring smooth navigation through the hallway."}}

{"gt_parse": {"Perception": "The scene depicts a hallway with a single human wearing a blue shirt and carrying papers, walking away from the robot toward the southwest at a very close distance.", "Prediction": "The person in the blue shirt will continue walking from the northwest to the southwest.", "Chain of Thought Reasoning": "Since the human is moving away from the robot and there are no other obstacles or individuals in close proximity, the robot can continue moving straight. This will allow for smooth navigation without any interruptions.", "Final Action": "Continue moving forward at a moderate speed.", "Explain": "I see a person moving away from me on my left. I will continue moving forward at a moderate speed to maintain smooth and safe navigation."}}

{"gt_parse": {"Perception": "In the hallway, there are two individuals. The first person is walking to the left of the robot toward the northwest at a close distance, heading north. The second person is stationary to the right of the robot at a medium distance.", "Prediction": "The walking person will continue moving north, while the stationary person will remain in place.", "Chain of Thought Reasoning": "Considering the positions and actions of the individuals, the robot can safely continue moving forward at a moderate speed, maintaining a respectful distance from both individuals.", "Final Action": "Continue moving forward at a moderate speed.", "Explain": "I am moving forward at a moderate speed to pass between two humans, one walking and one stationary, while maintaining a safe distance."}}

{"gt_parse": {"Perception": "The scene depicts a single human opening a doorway. The environment is indoors with a tile floor, and there are also a couple of stationary objects like a wet floor sign.", "Prediction": "The person in an orange shirt will continue moving from the northwest to the southwest through the doorway.", "Chain of Thought Reasoning": "Since the person is moving through the doorway and there are no other individuals or obstacles directly in the robot's path, the robot should stop and allow the person to pass to avoid any potential interference.", "Final Action": "Stop and wait for the person to pass through the door.", "Explain": "I see a person moving through the doorway, so I am stopping to ensure a clear and safe path for them to pass without interference. This action is necessary to maintain a safe and respectful distance."}}

{"gt_parse": {"Perception": "In the image, there is a single human holding a door open. This person is dressed in a black shirt and is positioned to the northwest of the robot, just outside the doorway.", "Prediction": "The person is currently stationary, holding the door open, and it is likely they will remain stationary to allow the robot to pass.", "Chain of Thought Reasoning": "Since the person is holding the door open and is stationary, the robot should turn sharply right through the doorway at a slow pace to safely navigate through without any interaction.", "Final Action": " turn sharply right", "Explain": "The person is holding the door open, positioned to the northwest, and is not moving. I will turn sharply right slowly to pass through the door safely, ensuring I maintain a respectful distance and do not require any abrupt stops or changes in direction."}}

{"gt_parse": {"Perception": "I see two humans walking on a sidewalk, moving from the northwest to the southwest. They are not engaging with each other or the robot, and are focused on their environment.", "Prediction": "The individual in the white shirt will continue moving from the northwest to the southwest, and the individual in the red shirt will do the same.", "Chain of Thought Reasoning": "Given the current trajectory and speed of the agents, there is sufficient space for me to continue moving forward without altering my path significantly. Both agents are moving parallel to my path, reducing the risk of collision.", "Final Action": "Continue straight at a moderate speed.", "Explain": "I see two people walking ahead in the direction from northwest to southwest. I am continuing straight at a moderate speed because there is enough space to safely pass without interfering with their path."}}

{"gt_parse": {"Perception": "There are two individuals walking on the sidewalk, both wearing white shirts. They are moving from the northwest to the southwest at a close distance on the left. They are close to the robot, but maintaining a straight path should allow for adequate clearance.", "Prediction": "The individuals will continue walking from the northwest to the southwest.", "Chain of Thought Reasoning": "Since the individuals are moving in a predictable path and are not directly in the robot's immediate path, the robot can continue moving forward at a moderate speed while maintaining a safe distance.", "Final Action": "Continue straight at a moderate speed.", "Explain": "I see two individuals moving shouthwest on the sidewalk. I will continue straight at a moderate speed to maintain a safe distance from them, ensuring a clear and unobstructed path."}}

{"gt_parse": {"Perception": "The scene depicts four individuals on a sidewalk in an outdoor setting. Two individuals are positioned to the northwest of the robot and two to the northeast, all moving southward.", "Prediction": "The individuals on the northwest and northeast will continue moving toward the southwest and southeast respectively.", "Chain of Thought Reasoning": "Since all agents are moving in a predictable direction away from the robot's path, and there are no immediate obstacles, the robot can safely continue moving forward at a moderate speed.", "Final Action": "Continue moving forward at a moderate speed.", "Explain": "I see four humans, two to the northwest and two to the northeast, all moving southward. I am moving forward because there are no obstacles in my direct path and the humans are maintaining a predictable trajectory."}}

{"gt_parse": {"Perception": "In the image, there is a person in a blue shirt walking across the hallway from the northeast to the southwest, directly in the robot's path.", "Prediction": "The person in the blue shirt will continue walking towards the southwest.", "Chain of Thought Reasoning": "Since the person is moving across the robot's path from northeast to southwest, and they are close to the robot, it is necessary for the robot to stop to avoid any potential collision.", "Final Action": "Stop to allow the person in the blue shirt to pass safely.", "Explain": "I am stopping because I am close to the person in the blue shirt who is crossing my path, ensuring safe navigation and avoiding any collision."}}

{"gt_parse": {"Perception": "There is a group of people on the sidewalk to the north, walking toward the south and the robot at a medium distance. There is a single human in a blue shirt walking toward the robot from the north, very close to the robot on the right side. Another person is walking toward the southwest on the left, at a close distance.", "Prediction": "The person in the blue shirt will keep walking from the north to the south.", "Chain of Thought Reasoning": "Since the person in the blue shirt is walking towards me and is relatively close, I need to navigate to avoid them. To maintain a safe distance and avoid any potential collision, I will turn slightly to the left.", "Final Action": "Turn slightly to the left ", "Explain": "I am very close to the person in the dark blue jean on my right, so I am turning slightly to the left to maintain a safe distance and continue my path."}}

{"gt_parse": {"Perception": "There is a sidewalk where a group of four people is walking from the north to the southwest, positioned in front of the robot. The group appears to be engaged in a side-by-side conversation at a close distance.", "Prediction": "The group of people will continue walking southwest, maintaining their current trajectory.", "Chain of Thought Reasoning": "Given the group's current walking direction and engagement in conversation, they are unlikely to change their path abruptly. The robot, should stop and wait for clear path", "Final Action": "stop, wait for clear path.", "Explain": "I see, the sidewalk is full of people coming toward me. To be socially compliant I should stop and wait them pass."}}

{"gt_parse": {"Perception": "The scene shows a sidewalk environment with low crowd density. A person wearing a blue jacket is walking to the southwest, moving parallel to the robot's path, at a close distance on the left.", "Prediction": "The person in the blue jacket will keep walking from the northwest to the southwest.", "Chain of Thought Reasoning": "Since the person is walking parallel and not directly towards the robot, I can continue moving straight without the need for adjustments. This allows for smooth navigation while maintaining a safe distance.", "Final Action": "Continue moving forward at a moderate speed.", "Explain": "I see a person walking parallel to my path, so I am continuing forward on the zebra lines."}}

{"gt_parse": {"Perception": "The robot is approaching a group of four people walking on the sidewalk. They are moving toward the south and the robot, and they are at a close distance.", "Prediction": "The group of people will continue moving from the north to the southeast.", "Chain of Thought Reasoning": "Since the group is moving toward the robot and is still in close proximity, the robot should stop to avoid any potential collision and wait for a clearer path to continue.", "Final Action": "Stop and wait for the group to move further away.", "Explain": "I am stopping because the group of people is moving towards me and is currently close to me. This action ensures safety and avoids disturbing their path."}}

{"gt_parse": {"Perception": "In the scene, there is a group of two people wearing orange jackets to the north of the robot, and another individual in a black shirt to the northeast. Both parties are walking northward, and all are at a close distance.", "Prediction": "The group in orange jackets will continue moving north. The individual in the black shirt is also walking north.", "Chain of Thought Reasoning": "Since both groups are moving away from the robot and in the same direction, the robot can continue moving forward slightly to the northeast to maintain a safe distance while progressing towards its goal.", "Final Action": "Move forward slightly to the northeast ", "Explain": "I see two groups of people moving north. To navigate safely and maintain a respectful distance, I will slightly adjust my path northeastward to avoid the group in orange jackets without getting too close to the individual in the black shirt."}}

{"gt_parse": {"Perception": "There are two humans walking on the sidewalk from the northwest to the southwest, as seen from the robot's view. One is wearing a blue jacket and the other an orange shirt, both at a medium distance. Additionally, there is another person in blue on the north side of the robot, facing north and walking north, at a far distance from the robot.", "Prediction": "The group of people in the blue jacket and the individual in the orange shirt will continue walking south on the sidewalk.", "Chain of Thought Reasoning": "Since the humans are walking away from the robot and there is sufficient space on the sidewalk, the robot can continue moving northeast without any adjustments.", "Final Action": "Continue moving forward at a moderate speed.", "Explain": "I see two humans walking away from me towards the south. I will continue moving northeast at a moderate speed as there is enough space to pass safely on the right."}}

{"gt_parse": {"Perception": "In the scene, there is a vehicle with two individuals moving towards the south, and it is approaching the robot from the front. Another individual is seen farther to the right, standing still.", "Prediction": "The vehicle with two individuals will keep moving from the north to the south.", "Chain of Thought Reasoning": "Since the vehicle is moving towards the robot and is relatively close, the robot should turn right to avoid it and continue moving in a safe path.", "Final Action": "Turn slightly right ", "Explain": "I am turning right to avoid the approaching vehicle and maintain a safe navigation path."}}

{"gt_parse": {"Perception": "There are two humans in the scene. One person, wearing a blue jacket, is walking from the northwest toward the northeast relative to the robot's position, at a close distance. Another person, located to the northeast, is walking toward the east at a medium distance.", "Prediction": "The person with the blue jacket will keep walking from the northwest to the northeast.", "Chain of Thought Reasoning": "Since the person is moving across my path from northwest to northeast, I will stop to avoid any potential collision and ensure a safe distance.", "Final Action": "Stop and wait for the human to pass.", "Explain": "I am stopping because the human in the blue jacket is crossing my path from northwest to northeast, and I need to maintain a safe distance and ensure their unobstructed passage."}}

{"gt_parse": {"Perception": "In the image, there are three groups of people. To the northwest, a couple is walking toward the southwest. To the north, another couple is walking forward to the north. Additionally, there is a group of more than three people walking from the northeast to the southwest.", "Prediction": "The group of two in the northwest is likely to continue walking southwest. The couple to the north will continue walking forward. The group to the northeast and right will cross the robot's path and are heading southwest.", "Chain of Thought Reasoning": "Since the group on the right is moving from the northeast to the southwest and will cross and block the robot's path, the robot needs to stop and let them pass.", "Final Action": "Stop, wait for clear path.", "Explain": "Since the group on the right is moving from the northeast to the southwest and will cross and block my path, I need to yield to them. I Stop and let them pass."}}

{"gt_parse": {"Perception": "The scene shows a medium crowd density on a sidewalk. Two individuals, identified as a group, are walking close to each other. They are dressed in white shirts and are engaged in a side-by-side conversation while walking.", "Prediction": "The group of two people will continue walking from the northwest to the southwest, moving away from the robot's current position.", "Chain of Thought Reasoning": "Since the group is moving in a direction away from the robot and there is sufficient space on the sidewalk, the robot can continue moving forward at a moderate speed without altering its path significantly.", "Final Action": "Continue moving forward at a moderate speed.", "Explain": "I see a group of two people walking away from me, engaged in a conversation. I will continue moving forward at a moderate speed because there is sufficient space to do so safely without interrupting their path."}}

{"gt_parse": {"Perception": "In the image, there is a group of four people walking forward on a pathway in an open area. They are moving away from the robot, positioned to the north.", "Prediction": "The group will continue walking forward towards the north.", "Chain of Thought Reasoning": "Given the group's slow movement and their direction, the robot should navigate around them by slightly adjusting its path to the northwest to avoid any potential interference.", "Final Action": "Move forward towards the northwest direction.", "Explain": "I see a group of four people walking north and slowing down upon noticing the robot. To ensure a smooth and respectful navigation, I will slightly adjust my path to the northwest to bypass the group without interference."}}

{"gt_parse": {"Perception": "There is a person in a white shirt walking ahead of the robot from the northeast to the northwest.", "Prediction": "The person with the white shirt will likely continue walking toward north west .", "Chain of Thought Reasoning": "Since the person is walking and intersect the robot path., the robot should stop and let the person pass", "Final Action": "Stop, wait for clear path.", "Explain": "I see a person with white shirt and blue jean in front of me. I stop and let him pass."}}

{"gt_parse": {"Perception": "In the scene, a human in a blue shirt is standing to the northwest of the robot, and another human in a white shirt is standing to the northeast and both very close. Additionally, a group of three people is standing further northeast.", "Prediction": "The person in the blue shirt will remain stationary, facing west. The person in the white shirt and the group of three will also remain stationary, facing east.", "Chain of Thought Reasoning": "Since all the agents are stationary and positioned along the sides of the path, the robot can safely continue moving forward in the north direction, maintaining a moderate speed. This path will allow the robot to pass between the agents without disturbing them.", "Final Action": "Continue moving forward at a moderate speed.", "Explain": "I see stationary agents positioned on both sides of the path. I will continue moving forward at a moderate speed to efficiently navigate through the open area without disturbing the stationary agents."}}

{"gt_parse": {"Perception": "In the scene, there is a human wearing an orange shirt walking south on the left side of the sidewalk. The robot is heading north.", "Prediction": "The person in the orange shirt will keep walking south.", "Chain of Thought Reasoning": "Since the person is moving south and the robot is heading north, and they are on opposite sides of the sidewalk, the robot can continue moving forward without altering its path. This will ensure a smooth and safe passage.", "Final Action": "Continue moving forward at a moderate speed.", "Explain": "I see a person walking south on the left side, and I am moving north on the right side. I will continue moving forward at a moderate speed to maintain a safe and efficient path."}}

{"gt_parse": {"Perception": "In the image, there is a person wearing an orange shirt walking southward on a sidewalk. The environment appears to be an outdoor event with tents and other people around, but the crowd density is low.", "Prediction": "The person in the orange shirt will continue walking south.", "Chain of Thought Reasoning": "Since the person in the orange shirt is walking south and the robot's goal is to move north, the robot can continue to move forward at a moderate speed. There is sufficient space on the sidewalk for both to pass without interference.", "Final Action": "Continue straight at a moderate speed.", "Explain": "I see a person walking south in an orange shirt. I am moving north, so I will continue straight at a moderate speed to pass by without interference."}}

{"gt_parse": {"Perception": "The scene shows a low-density crowd in an open area with a concrete surface. Two individuals are noticeable: one wearing a blue shirt to the left of the robot and another wearing a red shirt to the right. Both are stationary and not engaged in any interaction, focusing on the environment around them.", "Prediction": "The individuals are likely to remain stationary as they are currently not engaged in any activity that involves movement.", "Chain of Thought Reasoning": "Given the low crowd density and the stationary state of the nearby individuals, the robot can safely continue moving forward at a moderate speed, navigating between the two individuals without needing to alter its path significantly.", "Final Action": "Continue straight at a moderate speed.", "Explain": "I see two stationary individuals on either side of the robot, which allows me to continue moving straight without needing to adjust the path significantly, ensuring smooth and safe navigation."}}

{"gt_parse": {"Perception": "In the scene, there is one individual standing still on the right side of the path, dressed in an orange and white shirt. Additionally, there is a group of two people, also on the right, walking towards the south.", "Prediction": "The individual in the orange and white shirt will remain stationary. The group of two people will continue walking south.", "Chain of Thought Reasoning": "Since the individual is stationary and the group is moving away from the robot's path, the robot can continue moving forward without any adjustments.", "Final Action": "Continue moving forward at a moderate speed.", "Explain": "I see that the path ahead is clear with the stationary individual and the walking group not obstructing the robot's direct path, so I will continue moving forward at a moderate speed to navigate through this open area efficiently."}}

{"gt_parse": {"Perception": "The scene shows a medium-density crowd in an open area, likely an outdoor event. The terrain is concrete, and the environment appears busy but navigable. There are people stationary on the left and right. One person in a blue jacket and white shirt, at a far distance, is walking from north to south.", "Prediction": "The person with a blue jacket is walking southward.", "Chain of Thought Reasoning": "Given the current crowd density and the movement of the person with the blue jacket, the robot should continue moving straight at a slow speed", "Final Action": "Continue straight at a slow speed.", "Explain": "I am continuing straight at a slow speed to navigate through the medium-density crowd while maintaining a safe distance from the person with the blue jacket."}}

{"gt_parse": {"Perception": "There are two groups of people, one to the northwest and one to the northeast of the robot. The northwest group consists of seven individuals wearing orange jackets, and they are moving slowly southward. The northeast group includes three individuals in gray hoodies and they are stationary.", "Prediction": "The group in orange jackets on the left will keep moving south, while the group in gray hoodies will remain stationary.", "Chain of Thought Reasoning": "Since the group moving south is at a medium distance and not directly in the robot's path, and the stationary group is also at a medium distance and not obstructing the path, the robot can continue moving straight without altering its course.", "Final Action": "Stop, wait for clear path.", "Explain": "I see two groups of people, one moving and one stationary, both at a safe distance. I need to stop and wait for clear path on the left."}}

{"gt_parse": {"Perception": "I see two individuals in orange hoodies walking southward in an open area with a concrete surface. They are close to me but not directly in my path.", "Prediction": "The two individuals in orange hoodies will continue walking southward.", "Chain of Thought Reasoning": "Since the individuals are walking away from me and there are no other obstacles, I should continue moving forward while slightly adjusting my path to ensure a safe distance.", "Final Action": "Continue moving forward at a moderate speed while slightly adjusting to the northeast ", "Explain": "I see two individuals walking south, so I am moving forward with a slight adjustment to the northeast to avoid them and maintain a safe distance."}}

{"gt_parse": {"Perception": "In the scene, there is a person wearing a pink shirt walking in front of the robot at a medium distance, moving from north to southwest.", "Prediction": "The person with the pink shirt will keep walking from the north to the southwest.", "Chain of Thought Reasoning": "Given the person's trajectory and the medium crowd density, the robot can continue moving straight at a moderate speed, ensuring it maintains a safe distance from the person in the pink shirt.", "Final Action": "Continue moving straight at a moderate speed.", "Explain": "I see a person in a pink shirt walking away from me, moving from north to southwest. I will continue moving straight at a moderate speed to maintain a safe distance and ensure smooth navigation."}}

{"gt_parse": {"Perception": "There is a sidewalk in an outdoor environment with low crowd density. There are two individuals: a woman wearing a white hoodie, walking in front of the robot from the northeast to the northwest, and another person in blue walking from the northwest to the northwest.", "Prediction": "The woman in the white hoodie will continue walking from the north-east to the north-west.", "Chain of Thought Reasoning": "Given the woman's current trajectory and speed, she is likely to continue her path without intersecting the robot's intended route directly. The robot should continue moving forward while maintaining a safe distance.", "Final Action": "Stop, wait for clear path", "Explain": "I am stopping waiting for the two person to pass. "}}

{"gt_parse": {"Perception": "In the scene, there is a human standing still to the left of the robot and another human walking from the north east to the south west direction in front of the robot.", "Prediction": "The person in black shirt will keep walking from the north east to the south west. The person in gray shirt appears to be stationary, likely engaged with a mobile device.", "Chain of Thought Reasoning": "Since the person in black shirt is moving towards the south west and is directly in the robot's path, I will navigate slightly to the right to avoid any potential collision.", "Final Action": "Move forward while slightly adjusting to the right to maintain a safe distance from the walking person.", "Explain": "I see a person walking towards the south west in front of me, so I am moving forward while slightly adjusting to the right to avoid them and maintain a safe pathway."}}

{"gt_parse": {"Perception": "The scene depicts a sidewalk with medium crowd density. There are two groups of humans relevant to the robot's navigation. A group of two people to the left and a single individual to the right, both groups are walking away from the robot.", "Prediction": "The group of two on the left will continue moving from the northwest to the southwest, and the single individual on the right will keep walking from the northeast to the southeast.", "Chain of Thought Reasoning": "Considering the movement of both groups and their distance, the robot can safely continue moving forward by maintaining its current path. This avoids any potential collision and respects personal space.", "Final Action": "Continue moving forward with a moderate speed.", "Explain": "I see a group of two people to the left and a single individual to the right, both moving away from me. I will continue moving straight to maintain a safe and efficient path, ensuring I respect their space and avoid any interference with their movement."}}

{"gt_parse": {"Perception": "The robot is navigating through an open area with medium crowd density. There is a person walking away from the robot, wearing a gray hoodie. This person is moving from the northwest towards the southwest.", "Prediction": "The person in the gray hoodie will continue moving towards the southwest.", "Chain of Thought Reasoning": "Since the person is moving away from the robot and there are no other immediate obstacles, the robot can continue moving forward at a moderate speed to maintain a safe distance.", "Final Action": "Continue moving forward at a moderate speed.", "Explain": "I see a person walking away from me, so I will continue moving forward at a moderate speed to maintain safe navigation."}}

{"gt_parse": {"Perception": "The robot is moving forward on a tiled open area, approaching a man in a blue jacket walking directly toward the robot at a close distance.", "Prediction": "The man in the blue jacket will keep walking from the north to the south-west.", "Chain of Thought Reasoning": "Since the man is walking directly towards the robot and there is more space on the right side of the sidewalk, the robot should turn slightly to the right to avoid a collision while maintaining a moderate speed.", "Final Action": "Turn slightly to the right to avoid the man in the blue jacket, then continue moving forward.", "Explain": "I am close to the man in the blue jacket who is walking towards me, so I am turning slightly to the right to avoid him and then I will continue moving forward."}}

{"gt_parse": {"Perception": "I see a group of two humans walking on the left side of the robot. They are walking from northwest to southwest, parallel to the robot's path.", "Prediction": "The group of two people in orange hoodies will keep walking from the northwest to the southwest.", "Chain of Thought Reasoning": "Since the group is walking parallel and not directly towards the robot, and they are at a medium distance, I can continue moving straight.", "Final Action": "Continue moving forward at a moderate speed.", "Explain": "I see a group of two people walking parallel to me on the left, maintaining a medium distance. Since they are not obstructing my path, I will continue moving forward at a moderate speed to maintain efficient navigation."}}

{"gt_parse": {"Perception": "The scene shows a human on a bicycle moving from the northeast to the northwest on a tiled sidewalk. The environment has a low crowd density. There is a person walking from the northwest to the southwest and another person to the north walking forward toward the north.", "Prediction": "The person on the bicycle will continue moving from the northeast to the northwest. The person on the left, wearing a black jacket and orange shirt, will continue walking from the northwest to the southwest.", "Chain of Thought Reasoning": "Since the person on the bicycle is moving from northeast to northwest, and the robot's goal is to move northeast, I will adjust my path slightly to the right avoid close interaction with the cyclist.", "Final Action": "turn right", "Explain": "I am moving northeast, and there is a person on a bicycle crossing from northeast to northwest. To ensure a safe and respectful distance, I will slightly adjust my path to the right to avoid the cyclist."}}

{"gt_parse": {"Perception": "The scene shows a sidewalk with a low crowd density. There are two humans in motion: one in an orange hoodie moving from the northeast towards the southeast, and another in a blue jacket moving from the northwest towards the southwest.", "Prediction": "The human in the orange hoodie will continue moving towards the southeast, and the human in the blue jacket will keep moving towards the southwest.", "Chain of Thought Reasoning": "Given the movements of the humans, the robot should continue moving straight while maintaining a safe distance from both individuals. This will ensure a smooth and safe navigation through the area.", "Final Action": "Continue moving forward at a moderate speed ", "Explain": "I see two humans moving in opposite directions on either side of the robot's path. To ensure safety and comfort, I will continue moving straight at a moderate speed, maintaining a safe distance from both humans."}}

{"gt_parse": {"Perception": "The robot is moving forward on a tiled sidewalk. There is a group of two humans walking directly toward the robot at a medium distance. Both individuals are wearing hoodies, one white and one orange.", "Prediction": "The group of two is moving from the north to the south-west, directly towards the robot's path.", "Chain of Thought Reasoning": "Considering the current trajectory of the group, there is a potential for a collision if the robot continues moving forward. To ensure safety and avoid interrupting their path, the robot should slightly turn right.", "Final Action": "Slightly turn right", "Explain": "I Slightly turn right to pass two individuals comming towar me."}}

{"gt_parse": {"Perception": "The robot is navigating on a sidewalk. A person in a black jacket is walking ahead, moving from the southeast to the north.", "Prediction": "The person with the black jacket will continue walking from the southeast to the north.", "Chain of Thought Reasoning": "Since the person is moving away from the robot and there is sufficient space on the sidewalk, the robot can continue moving straight ahead without any adjustments.", "Final Action": "Continue moving forward at a moderate speed.", "Explain": "I see a person moving away from me, and the sidewalk is wide enough for safe passage. Therefore, I will continue moving straight ahead at a moderate speed to maintain a smooth and safe navigation."}}

{"gt_parse": {"Perception": "The scene shows a person in a gray hoodie, standing close to the robot and holding a door open, likely allowing the robot to pass through.", "Prediction": "The person in the gray hoodie will open the door", "Chain of Thought Reasoning": "Since the person is holding the door open and facing the robot, I will wait for the door to open", "Final Action": "Stop, wait for clear path", "Explain": "I see a person in a gray hoodie going to open the door for me. I wait for the door to open"}}